CN113203508A - Torque measuring method for robot joint - Google Patents
Torque measuring method for robot joint Download PDFInfo
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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Abstract
A method of torque measurement of a robot joint, comprising: (1) the angle value theta at the end of the motor is acquired in real time through the first encoder1And acquiring the angle value theta of the output end of the speed reducer in real time through the second encoder2(ii) a (2) Determining the coordinate point (theta)1/G，θ2) If the position of the position; (3) calculating the variation amount Delta theta1(ii) a (4) Judging whether the variation delta theta1> 0, or a variation Δ θ1When the speed reducer is in a clockwise rotation state at the previous moment and 0, if the speed reducer is in the clockwise rotation state, the speed reducer is in an F state according to the formula deltaCis-trans(θ1/G)‑θ2Calculating the torsion angle delta, if not, according to the formula delta, the torsion angle delta is equal to FInverse direction(θ1/G)‑θ2Calculating a torsion angle delta; (5) and calculating the torque T according to the formula T, K and K is the rigidity coefficient of the speed reducer. The torque measuring method not only can reduce the number of parts and simplifyThe structure is changed, the installation difficulty and the cost are reduced, the error is small, and the measurement precision is high.
Description
Technical Field
The invention relates to the field of robots, in particular to a torque measuring method for a robot joint.
Background
For a conventional industrial robot, the space requirement is not high, so that the conventional robot is basically directly spliced by a plurality of modules with different functions under the condition of saving cost. For the cooperative robot, the requirement on space is extremely high, the structural design requirement is favorable for production and maintenance, and the fewer parts are adopted, so that the advantage is better in cost control.
As is well known, the most critical of a cooperative robot is a joint module, which is mainly composed of a motor, a speed encoder, a speed reducer, a position encoder, a driver, a brake, and the like, in addition to a controller. The speed encoder is used for speed feedback, the position encoder is used for position feedback of the output end of the speed reducer, and the torque sensor is used for measuring torque of the speed reducer. However, the arrangement of the torque sensor may increase the number of components of the cooperative robot, which is not favorable for meeting the requirements of installation space and cost.
The Chinese invention application CN109500837A discloses a robot joint torque measuring method based on double encoders, which can measure the actual output torque through an absolute encoder arranged on the output shaft of a harmonic reducer and an absolute value encoder arranged at the motor end without establishing a dynamic model of the robot joint; the method can reduce the installation space, reduce the cost of the robot joint and simultaneously omit the elastic link of a common torque sensor.
However, the above-mentioned torque measurement method has the following drawbacks:
1. the error is large. Because the clocks of the two encoders are not synchronous and the communication delays are different, the controller receives the difference value of the position signals of the two encoders to generate a large error when the rotating speed changes.
2. The accuracy of the measurement is low. The resolution of the encoder can affect the resolution (or sensitivity) of torque measurement, the rigidity coefficient dimension of the light-load harmonic speed reducer is 104Nm/rad, if the encoder with 17-bit resolution is adopted, the minimum torque output is 0.48Nm, and the resolution can not meet the requirement of robot force control precision; if a minimum torque output of 0.0075Nm is to be achieved, a 23-bit encoder would need to be used, however, providing two such high resolution encoders would add significantly to the cost.
3. The controller has a large computational burden. The calculation of collecting and comparing the difference value of the two encoder signals and the fitting torque output needs to occupy more resources, and the burden of the resources is transferred to the controller.
4. The data storage carrier is not reasonable. The related data of the torque is data about the motor and the speed reducer, but the method stores the data in the controller, and when the controller is replaced, the data calibration work needs to be carried out again, so that the waste of time and resources is caused.
Disclosure of Invention
In order to solve the above problems, an aspect of the present invention is to provide a method for measuring a torque of a robot joint, including: the torque measurement method includes:
(1) arranging a first encoder at the motor end, arranging a second encoder at the output end of the speed reducer, and acquiring an angle value theta at the motor end in real time through the first encoder1And acquiring the angle value theta of the output end of the speed reducer in real time through the second encoder2；
(2) Calibrating the no-load area according to the actually measured angle value theta1And theta2Judging the coordinate point (theta)1/G，θ2) If the torsion angle δ is not equal to 0, directly performing the step (5), and if not, performing the step (3);
(3) calculating the angle value theta at the motor end1Amount of change Δ θ of1；
(4) Judging whether the variation delta theta1> 0, or a variation Δ θ1When the speed reducer is in a clockwise rotation state at the previous moment and 0, if the speed reducer is in the clockwise rotation state, the speed reducer is in an F state according to the formula deltaCis-trans(θ1/G)-θ2Calculating the torsion angle delta, if not, according to the formula delta, the torsion angle delta is equal to FInverse direction(θ1/G)-θ2Calculating a torsion angle delta;
(5) and calculating the torque T according to the formula T, K and K is the rigidity coefficient of the speed reducer.
Further, the first encoder and the second encoder are connected through a signal line, and in the step (1), the first encoder is used for collecting the angle value theta at the motor end1And the second encoder collects the angle value theta of the output end of the speed reducer in real time2Are stored in the second encoder, and the judgment operation and the calculation operation in steps (2) to (5) are performed by the second encoder.
Further, the second encoder has a 24-bit register, the no-load region is calibrated in the 24-bit register, and in the step (1), the first encoder collects the motor-end angle value θ1And the second encoder collects the angle value theta of the output end of the speed reducer in real time2Are stored in 24-bit registers, and the judgment operation and the calculation operation in steps (2) to (5) are performed by 24-bit registers.
Further, in step (2), the no-load region is calibrated by:
(2.1) ensuring that the robot joint is in an unloaded state;
(2.2) controlling the robot joint to rotate clockwise at a constant speed, wherein the rotation amplitude is between two limit angle values, and collecting the angle values theta of the ends of a plurality of motors through a first encoder1Simultaneously, the angle values theta of the output ends of the speed reducers are collected by the second encoder2；
(2.3) controlling the robot joint to rotate anticlockwise at a constant speed, wherein the rotation amplitude is between two limit angle values, and collecting the angle values theta of the ends of a plurality of motors through a first encoder1Simultaneously, the angle values theta of the output ends of the speed reducers are collected by the second encoder2；
(2.4) collecting a plurality of angles according to step (2.2)Value of theta1And the angle values theta of the output ends of the plurality of speed reducers2Forming a plurality of coordinate points (theta)1/G，θ2) A plurality of coordinate points (theta)1/G，θ2) The connecting line forms a clockwise angle curve AB; according to the plurality of angle values theta collected in the step (2.3)1And the angle values theta of the output ends of the plurality of speed reducers2Forming a plurality of coordinate points (theta)1/G，θ2) A plurality of coordinate points (theta)1/G，θ2) The connecting line forms a counterclockwise angle curve CD;
and (2.5) calibrating the no-load area by taking the clockwise angle curve AB, the anticlockwise angle curve CD and the two limit angle values as boundaries.
Further, in step (2.2) and step (2.3), the speed at which the robot joint rotates is 1 rpm.
Further, in step (2.2) and step (2.3), the two limit angle values of the robot joint are-180 ° and 180 °, respectively.
The method of measuring torque of a robot joint according to claim 1, characterized in that: in step (5), the stiffness coefficient K is calibrated by:
(5.1) applying clockwise or anticlockwise load to the robot joint, wherein the load is the maximum torque TnThe absolute value of the measured torsion angle is | δ100％|；
(5.2) applying clockwise load to the robot joint, wherein the load is the maximum torque T n20% of the total weight of the steel, the torsion angle is measured as delta20％The first stiffness coefficient is calculated according to the following formula: k1＝0.4Tn/(δ20％－δ-20％)；
(5.3) applying a counterclockwise load to the robot joint, the load being the maximum torque T n20% of the total weight of the steel, the torsion angle is measured as delta-20％Calculating a second stiffness coefficient according to the following formula: k2＝0.8Tn/(|δ100％|－δ20％)；
(5.4) when the absolute value of the torsion angle is less than delta20％When K is equal to K1Otherwise (i.e., when δ 20 ≦ δ 100 |), K ≦ K2。
After the technical scheme is adopted, the invention has the effects that:
1. the space is saved. The feedback requirements of torque and the like can be met without arranging a torque sensor in the robot joint, so that the number of parts can be reduced, the structure can be simplified, the installation difficulty can be reduced, and the cost can be reduced.
2. The error is small. The no-load error can be avoided by calibrating the no-load area, and the error value is reduced. In addition, the 24-bit register in the second encoder is used for operation, so that communication delay can be avoided, and the error value can be further reduced.
3. The measurement resolution is high. And a 24-bit register is arranged in the second encoder and used for realizing high-precision measurement of the torque, meeting the requirement of robot force control precision and not greatly increasing the cost.
4. And the calculation load of the controller is reduced. The judgment and technical operation in the torque measurement method are carried out by using the 24-bit register, the controller is not required to be relied on, and a large amount of resources can be saved for the controller.
5. Data storage carriers are more reasonable. The position relations among the motor, the speed reducer, the first encoder and the second encoder are relatively stable and basically cannot be replaced, the no-load area is calibrated in the 24-bit register, data can be reserved when the controller is replaced, re-calibration is not needed, and time and labor are saved.
Drawings
FIG. 1 is a schematic diagram of a robotic joint according to the present invention;
FIG. 2 is a graph of idle angle for a second encoder according to the present invention;
FIG. 3 is a flow chart of a torque measurement method to which the present invention relates;
fig. 4 is a graph showing a torsion angle of a robot joint according to the present invention.
Detailed Description
The technical solution of the present invention is further described by the following examples:
as shown in fig. 1, the robot joint of the present invention includes: the controller is connected with the motor through a power line, a motor shaft of the motor is fixedly connected with an input end of the speed reducer, the first encoder is arranged at the input end of the speed reducer (namely the motor end), the second encoder is arranged at the output end of the speed reducer, the first encoder is connected with the second encoder through a signal line, the second encoder is connected with the controller through a signal line, and the controller is connected with a bus of the robot through a signal line.
Based on the structure, the angle value theta at the motor end can be acquired in real time through the first encoder1The angle value theta of the output end of the speed reducer can be acquired in real time through the second encoder2。
It should be noted that in the unloaded (i.e., no load) condition, the speed reducer will have backlash (or backlash), and when the speed reducer is rotating, the angular relationship between the input and output is non-linear, and the angular relationship between clockwise and counterclockwise rotation is also different. Therefore, the present invention requires calibration of the idle angle of the second encoder prior to torque measurement.
As shown in FIG. 2, in the unloaded state, the clockwise angle curve AB is the angle value theta of the output end of the speed reducer when the speed reducer rotates clockwise2Angle value theta with the motor side1Curve F divided by reduction ratio GCis-trans(θ1/G) on the relationship curve, theta2＝FCis-trans(θ1(iv)/G); the curve CD of the counterclockwise angle is the angle value theta of the output end of the speed reducer when the speed reducer rotates counterclockwise2The change curve F of the angle value theta 1 with the motor end divided by the reduction ratio GInverse direction(θ1/G) on the relationship curve, theta2＝FInverse direction(θ1and/G). Between the points A, B, C, D, an empty space is formed, based on the actual measured angle value theta1And theta2When the coordinate point (theta)1/G，θ2) When the speed reducer falls into the no-load area, the speed reducer can be judged to be in the no-load state, and the torsion angle delta of the speed reducer is 0.
The present invention provides a method for measuring a torque of a robot joint, as shown in fig. 3, including:
(1) encoding the firstThe device is arranged at the motor end, the second encoder is arranged at the output end of the speed reducer, and the angle value theta at the motor end is acquired in real time through the first encoder1And acquiring the angle value theta of the output end of the speed reducer in real time through the second encoder2；
(2) Calibrating the no-load area according to the actually measured angle value theta1And theta2Judging the coordinate point (theta)1/G，θ2) If the torsion angle δ is not equal to 0, directly performing the step (5), and if not, performing the step (3);
(3) calculating the angle value theta at the motor end1Amount of change Δ θ of1；
(4) Judging whether the variation delta theta1> 0, or a variation Δ θ1When the speed reducer is in a clockwise rotation state at the previous moment and 0, if the speed reducer is in the clockwise rotation state, the speed reducer is in an F state according to the formula deltaCis-trans(θ1/G)-θ2Calculating the torsion angle delta, if not, according to the formula delta, the torsion angle delta is equal to FInverse direction(θ1/G)-θ2Calculating a torsion angle delta;
(5) and calculating the torque T according to the formula T, K and K is the rigidity coefficient of the speed reducer.
It should be noted that:
in the step (3), the currently measured angle value theta is measured1The angle value theta measured from the previous moment1Subtracting to obtain the variation delta theta1。
In step (4), when the amount of change Δ θ is changed1Greater than 0, amount of change Δ θ1When the speed reducer is in a clockwise rotation state (for example, the load is too heavy and exceeds the maximum torque to continue rotating) at the last moment, the speed reducer can be considered to be in the clockwise rotation state; when the amount of change Δ θ1< 0, amount of change Δ θ1When the speed reducer is in the counterclockwise rotation state at the previous moment, the speed reducer can be considered to be in the counterclockwise rotation state.
Specifically, the first encoder and the second encoder are connected by a signal line, and in step (1), the first encoder is used for acquiring the angle value theta at the motor end1And the second braidThe encoder collects the angle value theta of the output end of the speed reducer in real time2Are stored in the second encoder, and the judgment operation and the calculation operation in steps (2) to (5) are performed by the second encoder.
More specifically, the second encoder has a 24-bit register, the no-load region is calibrated in the 24-bit register, and in step (1), the first encoder acquires the motor-side angle value θ1And the second encoder collects the angle value theta of the output end of the speed reducer in real time2Are stored in 24-bit registers, and the judgment operation and the calculation operation in steps (2) to (5) are performed by 24-bit registers. Compared with the traditional encoder, the second encoder provided by the invention is provided with the 24-bit register, so that the requirement of torque measurement on resolution can be met, and data operation can be directly realized in the second encoder without depending on a controller.
Specifically, in step (2), the no-load region is calibrated by:
(2.1) ensuring that the robot joint is in an unloaded state;
(2.2) controlling the robot joint to rotate clockwise at a constant speed, wherein the rotation amplitude is between two limit angle values, and collecting the angle values theta of the ends of a plurality of motors through a first encoder1Simultaneously, the angle values theta of the output ends of the speed reducers are collected by the second encoder2；
(2.3) controlling the robot joint to rotate anticlockwise at a constant speed, wherein the rotation amplitude is between two limit angle values, and collecting the angle values theta of the ends of a plurality of motors through a first encoder1Simultaneously, the angle values theta of the output ends of the speed reducers are collected by the second encoder2；
(2.4) collecting a plurality of angle values theta according to the step (2.2)1And the angle values theta of the output ends of the plurality of speed reducers2Forming a plurality of coordinate points (theta)1/G，θ2) A plurality of coordinate points (theta)1/G，θ2) The connecting line forms a clockwise angle curve AB; according to the plurality of angle values theta collected in the step (2.3)1And the angle values theta of the output ends of the plurality of speed reducers2Forming a plurality of coordinate points (theta)1/G，θ2) A plurality ofCoordinate point (theta)1/G，θ2) The connecting line forms a counterclockwise angle curve CD;
and (2.5) calibrating the no-load area by taking the clockwise angle curve AB, the anticlockwise angle curve CD and the two limit angle values as boundaries.
More specifically, in step (2.2) and step (2.3), the speed at which the robot joint rotates is 1 rpm.
More specifically, in step (2.2) and step (2.3), the two limit angle values of the robot joint are-180 ° and 180 °, respectively. Namely, the robot joint can realize 360-degree rotation, and can rotate from-180 degrees to 180 degrees or from 180 degrees to-180 degrees when an idle load area is calibrated.
It is worth mentioning that the torque T and the torsion angle δ generally have a non-linear relationship, but the robot joint has a relatively fixed corresponding relationship when rotating clockwise and counterclockwise, so that the torque can be calculated by measuring the torsion angle. As shown in FIG. 4, when the torque | T | < 20% TnWhen the stiffness coefficient K is equal to K1(ii) a When the torque is 20% Tn＜|T|＜100％TnWhen the stiffness coefficient K is equal to K2. Wherein, TnIs the maximum torque.
Specifically, in step (5), the stiffness coefficient K is calibrated by:
(5.1) applying clockwise or anticlockwise load to the robot joint, wherein the load is the maximum torque TnThe absolute value of the measured torsion angle is | δ100％|；
(5.2) applying clockwise load to the robot joint, wherein the load is the maximum torque T n20% of the total weight of the steel, the torsion angle is measured as delta20％The first stiffness coefficient is calculated according to the following formula: k1＝0.4Tn/(δ20％－δ-20％)；
(5.3) applying a counterclockwise load to the robot joint, the load being the maximum torque T n20% of the total weight of the steel, the torsion angle is measured as delta-20％Calculating a second stiffness coefficient according to the following formula: k2＝0.8Tn/(|δ100％|－δ20％)；
(54) when the absolute value of the torsion angle | delta | is less than delta20％When K is equal to K1Otherwise (i.e., when δ 20 ≦ δ 100 |), K ≦ K2。
It is worth mentioning that some speed reducer manufacturers can provide a stiffness coefficient curve of the speed reducer, and under the condition of knowing the stiffness coefficient curve, the torque of 20% T can be directly searched from the curvenTorsion angle of time, i.e. delta20％And delta-20％Setting the torsion angle range delta20％～δ-20％The stiffness coefficient K corresponding to the torsion angle range is confirmed1Stiffness coefficient K corresponding to outside of the above torsion angle range2Therefore, the proper rigidity coefficient K is directly selected when the torque is calculated.
As can be seen, the method for measuring the torque of the robot joint by using the torque measurement method has the following advantages:
1. the space is saved. The feedback requirements of torque and the like can be met without arranging a torque sensor in the robot joint, so that the number of parts can be reduced, the structure can be simplified, the installation difficulty can be reduced, and the cost can be reduced.
2. The error is small. The no-load error can be avoided by calibrating the no-load area, and the error value is reduced. In addition, the 24-bit register in the second encoder is used for operation, so that communication delay can be avoided, and the error value can be further reduced.
3. The measurement resolution is high. And a 24-bit register is arranged in the second encoder and used for realizing high-precision measurement of the torque, meeting the requirement of robot force control precision and not greatly increasing the cost.
4. And the calculation load of the controller is reduced. The judgment and technical operation in the torque measurement method are carried out by using the 24-bit register, the controller is not required to be relied on, and a large amount of resources can be saved for the controller.
5. Data storage carriers are more reasonable. The position relations among the motor, the speed reducer, the first encoder and the second encoder are relatively stable and basically cannot be replaced, the no-load area is calibrated in the 24-bit register, data can be reserved when the controller is replaced, re-calibration is not needed, and time and labor are saved.
The above-described embodiments are merely preferred examples of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles of the invention described in the claims should be included in the claims.
Claims (7)
1. A method for measuring torque of a robot joint is characterized in that: the torque measurement method includes:
(1) arranging a first encoder at the motor end, arranging a second encoder at the output end of the speed reducer, and acquiring an angle value theta at the motor end in real time through the first encoder1And acquiring the angle value theta of the output end of the speed reducer in real time through the second encoder2；
(2) Calibrating the no-load area according to the actually measured angle value theta1And theta2Judging the coordinate point (theta)1/G，θ2) If the torsion angle δ is not equal to 0, directly performing the step (5), and if not, performing the step (3);
(3) calculating the angle value theta at the motor end1Amount of change Δ θ of1；
(4) Judging whether the variation delta theta1> 0, or a variation Δ θ1When the speed reducer is in a clockwise rotation state at the previous moment and 0, if the speed reducer is in the clockwise rotation state, the speed reducer is in an F state according to the formula deltaCis-trans(θ1/G)-θ2Calculating the torsion angle delta, if not, according to the formula delta, the torsion angle delta is equal to FInverse direction(θ1/G)-θ2Calculating a torsion angle delta;
(5) and calculating the torque T according to the formula T, K and K is the rigidity coefficient of the speed reducer.
2. The method of measuring torque of a robot joint according to claim 1, characterized in that: the first encoder and the second encoder are connected through a signal line, and in the step (1), the angle value theta of the motor end collected by the first encoder is used1And the second encoder collects the angle value theta of the output end of the speed reducer in real time2Are all stored in the secondIn the encoder, the judgment operation and the calculation operation in steps (2) to (5) are both performed by the second encoder.
3. The method of measuring torque of a robot joint according to claim 2, characterized in that: the second encoder is provided with a 24-bit register, the no-load area is calibrated in the 24-bit register, in the step (1), the angle value theta 1 at the motor end acquired by the first encoder and the angle value theta 2 at the output end of the speed reducer acquired by the second encoder in real time are stored in the 24-bit register, and the judging operation and the calculating operation in the steps (2) - (5) are carried out through the 24-bit register.
4. The method of measuring torque of a robot joint according to claim 3, characterized in that: in step (2), the empty region is calibrated by:
(2.1) ensuring that the robot joint is in an unloaded state;
(2.2) controlling the robot joint to rotate clockwise at a constant speed, wherein the rotation amplitude is between two limit angle values, and collecting the angle values theta of the ends of a plurality of motors through a first encoder1Simultaneously, the angle values theta of the output ends of the speed reducers are collected by the second encoder2；
(2.3) controlling the robot joint to rotate anticlockwise at a constant speed, wherein the rotation amplitude is between two limit angle values, and collecting the angle values theta of the ends of a plurality of motors through a first encoder1Simultaneously, the angle values theta of the output ends of the speed reducers are collected by the second encoder2；
(2.4) collecting a plurality of angle values theta according to the step (2.2)1And the angle values theta of the output ends of the plurality of speed reducers2Forming a plurality of coordinate points (theta)1/G，θ2) A plurality of coordinate points (theta)1/G，θ2) The connecting line forms a clockwise angle curve; according to the plurality of angle values theta collected in the step (2.3)1And the angle values theta of the output ends of the plurality of speed reducers2Forming a plurality of coordinate points (theta)1/G，θ2) A plurality of coordinate points (theta)1/G，θ2) The connecting line forms a counterclockwise angle curve;
and (2.5) calibrating the no-load area by taking the clockwise angle curve, the anticlockwise angle curve and the two limit angle values as boundaries.
5. The method of measuring torque of a robot joint according to claim 4, characterized in that: in step (2.2) and step (2.3), the speed at which the robot joint rotates is 1 rpm.
6. The method of measuring torque of a robot joint according to claim 4, characterized in that: in step (2.2) and step (2.3), the two limit angle values of the robot joint are-180 ° and 180 °, respectively.
7. The method of measuring torque of a robot joint according to claim 1, characterized in that: in step (5), the stiffness coefficient K is calibrated by:
(5.1) applying clockwise or anticlockwise load to the robot joint, wherein the load is the maximum torque TnThe absolute value of the measured torsion angle is | δ100％|；
(5.2) applying clockwise load to the robot joint, wherein the load is the maximum torque Tn20% of the total weight of the steel, the torsion angle is measured as delta20％The first stiffness coefficient is calculated according to the following formula: k1＝0.4Tn/(δ20％－δ-20％)；
(5.3) applying a counterclockwise load to the robot joint, the load being the maximum torque Tn20% of the total weight of the steel, the torsion angle is measured as delta-20％Calculating a second stiffness coefficient according to the following formula: k2＝0.8Tn/(|δ100％|－δ20％)；
(5.4) when the absolute value of the torsion angle is less than delta20％When K is equal to K1Otherwise (i.e., when δ 20 ≦ δ 100 |), K ≦ K2。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113654747A (en) * | 2021-09-26 | 2021-11-16 | 珠海格力智能装备有限公司 | Robot joint stiffness detection method and device and robot |
| CN115070823A (en) * | 2022-06-21 | 2022-09-20 | 法奥意威(苏州)机器人系统有限公司 | Joint stiffness detection method, robot motion control method and related device |
| CN115452220A (en) * | 2022-09-30 | 2022-12-09 | 电子科技大学 | Real-time dynamic measuring device for output torque of motor-reducer |
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